\documentclass{beamer}
 \usetheme[pageofpages=of,% String used between the current page and the
                         % total page count.
          alternativetitlepage=true,% Use the fancy title page.
          titlepagelogo=UlbLogos/logo-ulb,% Logo for the first page.          
          watermark=,% Watermark used in every page.
          watermarkheight=25px,% Height of the watermark.
          watermarkheightmult=6,% The watermark image is 4 times bigger
                                % than watermarkheight.
          ]{Torino}

\usepackage{epstopdf}
\usepackage{pgfpages}
\usepackage{hyperref}
\usepackage{tikz}
\usepackage{booktabs} % Allows the use of \toprule, \midrule and \bottomrule in tables for horizontal lines
\usepackage{soul}
\usepackage{appendixnumberbeamer}
\usepackage[french]{babel}

\usetikzlibrary{backgrounds,shapes,arrows,automata,positioning,calc,fit,decorations,decorations.pathreplacing,
mindmap}
\usepgflibrary{decorations.markings}


\hypersetup{
  colorlinks = true,
  linkcolor = green!50!black,
  citecolor = green!50!black
}

% Nouvelle is a green and red alternative to the chameleon color theme.
\usecolortheme{nouvelle}
\logo{\includegraphics[height=1cm]{UlbLogos/ULBPolytech.eps}}

\pgfdeclarelayer{background}
\pgfdeclarelayer{foreground}
\pgfsetlayers{background,main,foreground}
 
% Define block styles  
\tikzstyle{tier}=[draw, fill=yellow!20, text width=6.0em, text centered,
  minimum height=1.5em,drop shadow]
\tikzstyle{component} = [tier, text width=8em, minimum width=10em,
  minimum height=3em, rounded corners, drop shadow]
\tikzstyle{texto} = [above, text width=6em, text centered]
\tikzstyle{linepart} = [draw, thick, color=black!50, -latex', dashed]
\tikzstyle{line} = [draw, thick, color=black!50, -latex',<->]
\tikzstyle{ur}=[draw, text centered, minimum height=0.01em]
 
% Define distances for bordering
\newcommand{\blockdist}{1.3}
\newcommand{\edgedist}{1.5}

\newcommand{\component}[2]{node (p#1) [component]
  {{\scriptsize\textit{#2}}}}

% Draw background
\newcommand{\background}[5]{%
  \begin{pgfonlayer}{background}
    % Left-top corner of the background rectangle
    \path (#1.west |- #2.north)+(-0.5,0.5) node (a1) {};
    % Right-bottom corner of the background rectanle
    \path (#3.east |- #4.south)+(+0.5,-0.25) node (a2) {};
    % Draw the background
    \path[fill=blue!20,rounded corners, draw=black!50, dashed]
      (a1) rectangle (a2);
    \path (a1.east |- a1.south)+(0.8,-0.3) node (u1)[texto]
      {\scriptsize\textit{#5 Tier}};
  \end{pgfonlayer}}


%Parameters: NodeName,NodeText,Positioning
\newcommand{\cluster}[3]{
    \draw[black]#3 circle [radius=0.24];
    \draw[black]#3 node(#1){#2}
}
%----

%\setbeameroption{show notes on second screen}

\author{Jacopo De Stefani}
\title{Spatial Allocation in Swarm Robotics}
\subtitle{MEMO-H-504 - M\'{e}moire de fin d'\'{e}tudes en Informatique}
\institute{Universit\'{e} Libre de Bruxelles}

\begin{document}

% Keys to support piece-wise uncovering of elements in TikZ pictures:
  % \node[visible on=<2->](foo){Foo}
  % \node[visible on=<{2,4}>](bar){Bar}   % put braces around comma expressions
  %
  % Internally works by setting opacity=0 when invisible, which has the 
  % adavantage (compared to \node<2->(foo){Foo} that the node is always there, hence
  % always consumes space that (foo) is always available.
  %
  % The actual command that implements the invisibility can be overriden
  % by altering the style invisible. For instance \tikzsset{invisible/.style={opacity=0.2}}
  % would dim the "invisible" parts. Alternatively, the color might be set to white, if the
  % output driver does not support transparencies (e.g., PS) 
  %
  \tikzset{
    invisible/.style={opacity=0},
    visible on/.style={alt={#1{}{invisible}}},
    alt/.code args={<#1>#2#3}{%
      \alt<#1>{\pgfkeysalso{#2}}{\pgfkeysalso{#3}} % \pgfkeysalso doesn't change the path
    },
  }

\begin{frame}[t,plain]
\titlepage
\end{frame}

\include{BodyPresentation}
%\frame{Test}

\begin{frame}[t,fragile]{\textbf{Questions ?}}
\begin{center}
\includegraphics[height=.8\textheight,keepaspectratio]{UlbLogos/Questions.jpg}
\end{center}
\end{frame}

\appendix
\include{Appendix}





\end{document}
